133 lines
6.5 KiB
C++
133 lines
6.5 KiB
C++
/* Copyright 2020 The MathWorks, Inc. */
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/**
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* @file mavlinkcodegen_api.hpp
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* @brief Header for API of MAVLinkCodegen_api called from the
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Simulink System Object during codegen.
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*/
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#ifndef MAVLINKCODEGEN_API_HPP
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#define MAVLINKCODEGEN_API_HPP
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#ifdef BUILDING_LIBMWMAVLinkCodegen
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#include "mavlinkcodegen/mavlinkcodegen_util.hpp"
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#else
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/* To deal with the fact that PackNGo has no include file hierarchy during test */
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#include "mavlinkcodegen_util.hpp"
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#endif
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#include "mavlink/mavlink_types.h" // for mavlink_message_t
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#include "stddef.h" // for size_t
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/// create and store the pointer to the MAVLinkSerializerCodegenImpl class
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_constructMAVLinkCodegenPointer(void** ptrObj);
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/// fill the MAVLinkML struct with channel specific information and encode the MAVLink
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/// message structure to a byte array
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] payloadBusObj pointer to input payload structure
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* @param[in] sysid System ID of sender
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* @param[in] compid Component ID of sender
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* @param[in] msgid Msg ID of the message to be serialized
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* @param[in] minlen minimum Length of message
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* @param[in] len maximum Length of message
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* @param[in] crcExtra CRC of the message
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* @param[in] buffer pointer to the output buffer to be filled
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* @param[in] bufferLength length of serialized message
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_finalizeAndSerializeMsg(void* ptrObj,
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void* payloadBusObj,
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uint8_T sysid,
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uint8_T compid,
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uint32_T msgid,
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uint8_T minlen,
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uint8_T len,
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uint8_T crcExtra,
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uint8_T* buffer,
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uint16_T* bufferLength);
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/// convert byte array to MAVLink message struct and fill the fields in the
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/// the MAVLink packet
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] msgID Msg ID of the decoded message
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* @param[in] compid Component ID of the decoded message
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* @param[in] seq Sequence of the decoded message
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* @param[in] payloadObj pointer to output payload structure to be filled
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* @param[in] isNew Is a new message for the desired MsgID
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* received
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* @param[in] buffer Input byte array to be decoded
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* @param[in] len Length of input message
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* @param[in] desiredMsgID MsgID to search for
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* @param[in] filterBySystemID Filter By SystemID
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* @param[in] desiredSystemID SystemID to search for
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* @param[in] filterByComponentID Filter By ComponentID
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* @param[in] desiredComponentID ComponentID to search for
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_deserialize(void* ptrObj,
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uint32_T* msgID,
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uint8_T* sysid,
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uint8_T* compid,
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uint8_T* seq,
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void* payloadObj,
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boolean_T* isNew,
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uint8_T const* buffer,
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size_t len,
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uint32_T desiredMsgID,
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bool filterBySystemID,
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uint8_T desiredSystemID,
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bool filterByComponentID,
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uint8_T desiredComponentID);
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/// set the MAVLink protocol used by parser
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] version MAVLink protocol version
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_setVersion(void* ptrObj, double version);
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/// get the MAVLink protocol used by parser
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] version MAVLink protocol version
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_getVersion(void* ptrObj, double* version);
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/// update the dialect with CRC_EXTRA information
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] messageInfo a 6*N vector containing [msgid, msgck, maxlen, flags, target_sys_offset,
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* target_comp_offset]
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* @param[in] size Number of MAVLink messages in the parser
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_updateMessageEntries(void* ptrObj,
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double* messageInfo,
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double size);
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/// fetch the MAVLinkSerializerCodegenImpl Object to be used for Serialization
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] serializerObj a pointer to the final MAVLinkSerializerCodegenImpl object
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to be used serialization
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* @param[in] systemID System ID of sender
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* @param[in] componentID Component ID of sender
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_fetchSerializerObj(void* ptrObj,
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void** serializerObj,
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uint8_T systemID,
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uint8_T componentID);
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/// create a pointer to a Circular Queue with a given queue size
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/**
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* @param[in] ptrObj a pointer to the MAVLinkSerializerCodegenImpl class
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* @param[in] queueSize Maximum size of Circular queue
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*/
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EXTERN_C MAVLINK_CODEGEN_API void MAVLinkCodegen_createMessageQueue(void* ptrObj,
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uint16_T queueSize);
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#endif
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